CA1263128A - Hand gear train with three degrees of freedom - Google Patents

Hand gear train with three degrees of freedom

Info

Publication number: CA1263128A
Authority: CA; Canada
Prior art keywords: housing; axis; gear; rotation; rack
Prior art date: 1985-07-25
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Expired

Application number

CA000513473A

Other languages

English (en)

French (fr)

Inventor

Thomas A. Colimitra

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

AEG Westinghouse Industrial Automation Corp

Original Assignee

Unimation Inc

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

1985-07-25

Filing date

1986-07-10

Publication date

1989-11-21

1986-07-10 Application filed by Unimation Inc filed Critical Unimation Inc

1989-11-21 Application granted granted Critical

1989-11-21 Publication of CA1263128A publication Critical patent/CA1263128A/en

Status Expired legal-status Critical Current

Links

230000033001 locomotion Effects 0.000 claims abstract description 21
239000012636 effector Substances 0.000 claims abstract description 12
210000000707 wrist Anatomy 0.000 description 9
150000002500 ions Chemical class 0.000 description 7
238000004891 communication Methods 0.000 description 3
238000004519 manufacturing process Methods 0.000 description 3
101100411613 Bacillus subtilis (strain 168) racX gene Proteins 0.000 description 2
230000000694 effects Effects 0.000 description 2
238000003892 spreading Methods 0.000 description 2
101100481176 Bacillus subtilis (strain 168) thiE gene Proteins 0.000 description 1
NLZUEZXRPGMBCV-UHFFFAOYSA-N Butylhydroxytoluene Chemical compound CC1=CC(C(C)(C)C)=C(O)C(C(C)(C)C)=C1 NLZUEZXRPGMBCV-UHFFFAOYSA-N 0.000 description 1
101100494344 Desulfobacterium autotrophicum (strain ATCC 43914 / DSM 3382 / HRM2) bzaF gene Proteins 0.000 description 1
239000000853 adhesive Substances 0.000 description 1
230000001070 adhesive effect Effects 0.000 description 1
230000000712 assembly Effects 0.000 description 1
238000000429 assembly Methods 0.000 description 1
238000010276 construction Methods 0.000 description 1
230000008021 deposition Effects 0.000 description 1
230000026058 directional locomotion Effects 0.000 description 1
210000005069 ears Anatomy 0.000 description 1
239000000463 material Substances 0.000 description 1
230000003278 mimic effect Effects 0.000 description 1
210000002320 radius Anatomy 0.000 description 1
239000000565 sealant Substances 0.000 description 1
101150029215 thiC gene Proteins 0.000 description 1
210000003462 vein Anatomy 0.000 description 1
238000003466 welding Methods 0.000 description 1

Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19023—Plural power paths to and/or from gearing
- Y10T74/19051—Single driven plural drives
- Y10T74/1906—Nonparallel
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
- Y10T74/1966—Intersecting axes
- Y10T74/19665—Bevel gear type
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm

Landscapes

Engineering & Computer Science (AREA)
Robotics (AREA)
Mechanical Engineering (AREA)
Manipulator (AREA)
Gear Transmission (AREA)

CA000513473A 1985-07-25 1986-07-10 Hand gear train with three degrees of freedom Expired CA1263128A (en)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
US06/758,931 US4683772A (en)	1985-07-25	1985-07-25	Hand gear train with three degrees of freedom
US758,931		1985-07-25

Publications (1)

Publication Number	Publication Date
CA1263128A true CA1263128A (en)	1989-11-21

Family

ID=25053705

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
CA000513473A Expired CA1263128A (en)	1985-07-25	1986-07-10	Hand gear train with three degrees of freedom

Country Status (6)

Country	Link
US (1)	US4683772A (es)
EP (1)	EP0210490B1 (es)
JP (1)	JPS6228145A (es)
CA (1)	CA1263128A (es)
DE (1)	DE3683880D1 (es)
ES (1)	ES2000733A6 (es)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
SE453579B (sv) *	1986-06-12	1988-02-15	Asea Ab	Robothandled bestaende av tva handledshalvor
JPS63219943A (ja) *	1987-03-09	1988-09-13	Imano Tekkosho:Kk	回転式動力伝達装置
JPH0544610Y2 (es) *	1987-04-02	1993-11-12
JPH01108439A (ja) *	1987-10-21	1989-04-25	Konno Tekkosho:Kk	回転式動力伝達装置
US4807486A (en) *	1987-11-09	1989-02-28	Gmf Robotics Corporation	Three-axes wrist mechanism
JPH02190288A (ja) *	1989-01-20	1990-07-26	Kobe Steel Ltd	工業用ロボット等の手首機構
IT1261026B (it) *	1992-07-22	1996-04-29	Jobs Spa	Testa operatrice per macchine utensili automatiche, in cui si utilizzano coppie coniche ipoidali per trasmettere il moto per il posizionamento del mandrino
US5813283A (en) *	1996-06-20	1998-09-29	Industrial Technology Research Institute	Vertical/horizontal spindle head for machine tools
JP3975959B2 (ja) *	2003-04-23	2007-09-12	トヨタ自動車株式会社	ロボット動作規制方法とその装置およびそれを備えたロボット
JP5025222B2 (ja) *	2005-11-21	2012-09-12	株式会社エンプラス	歯車装置
JP4233578B2 (ja) *	2006-08-10	2009-03-04	ファナック株式会社	産業用ロボットの手首駆動構造
CN102198658A (zh) *	2010-03-25	2011-09-28	鸿富锦精密工业（深圳）有限公司	机器人臂部件
JP5702826B2 (ja) *	2013-04-30	2015-04-15	ファナック株式会社	産業用ロボットの手首構造
EP3079609B1 (en)	2013-12-12	2019-07-17	Covidien LP	Gear train assemblies for robotic surgical systems
JP6426646B2 (ja) *	2016-03-23	2018-11-21	ファナック株式会社	ロボットの手首構造
CN109152609B (zh)	2016-05-26	2021-10-22	柯惠Lp公司	机器人手术组合件
JP2020533061A (ja)	2017-09-06	2020-11-19	コヴィディエンリミテッドパートナーシップ	手術ロボットの境界スケーリング
AU2018330433A1 (en)	2017-09-08	2020-03-19	Covidien Lp	Energy disconnect for robotic surgical assemblies
EP3737328B1 (en)	2018-01-09	2025-04-30	Covidien LP	STERILE INTERFACE MODULE FOR ROBOTIC SURGICAL ASSEMBLIES
EP4147664A1 (en)	2018-01-10	2023-03-15	Covidien LP	Robotic surgical assemblies and adapter assemblies thereof
AU2019242611A1 (en)	2018-03-29	2020-08-20	Covidien Lp	Robotic surgical systems and instrument drive assemblies
US12029507B2 (en)	2018-07-26	2024-07-09	Covidien Lp	Surgical robotic systems
EP4037875A1 (en) *	2019-10-03	2022-08-10	ABB Schweiz AG	Wrist device, industrial robot and method

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CH458002A (de) *	1967-02-21	1968-06-15	Unimation Inc	Greifgerät mit programmgesteuerten Betätigungsvorrichtungen
DE2226407C3 (de) *	1972-05-31	1978-10-12	Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe	Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung
US3922930A (en) *	1974-12-23	1975-12-02	Nasa	Remotely operable articulated manipulator
JPS5727686A (en) *	1980-07-21	1982-02-15	Hitachi Ltd	Industrial articular robot
US4362978A (en) *	1980-10-27	1982-12-07	Unimation, Inc.	Control system for manipulator apparatus
DE3048067C2 (de) *	1980-12-19	1984-08-09	Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg	Getriebeanordnung für den Gelenkkopf eines Manipulators
US4402234A (en) *	1981-08-13	1983-09-06	General Motors Corporation	Three-axis wrist mechanism
DE3370299D1 (en) *	1982-11-02	1987-04-23	Westinghouse Electric Corp	Robot wrist and arm
JPS60127989A (ja) *	1983-12-14	1985-07-08	ファナック株式会社	産業用ロボットの手首駆動機構

1985
- 1985-07-25 US US06/758,931 patent/US4683772A/en not_active Expired - Fee Related
1986
- 1986-07-09 DE DE8686109399T patent/DE3683880D1/de not_active Expired - Fee Related
- 1986-07-09 EP EP86109399A patent/EP0210490B1/en not_active Expired - Lifetime
- 1986-07-10 CA CA000513473A patent/CA1263128A/en not_active Expired
- 1986-07-23 ES ES8600523A patent/ES2000733A6/es not_active Expired
- 1986-07-24 JP JP61174708A patent/JPS6228145A/ja active Pending

Also Published As

Publication number	Publication date
EP0210490A2 (en)	1987-02-04
DE3683880D1 (de)	1992-03-26
US4683772A (en)	1987-08-04
ES2000733A6 (es)	1988-03-16
JPS6228145A (ja)	1987-02-06
EP0210490A3 (en)	1988-04-13
EP0210490B1 (en)	1992-02-12

Legal Events

Date	Code	Title	Description
1993-05-22	MKLA	Lapsed

Publication	Publication Date	Title
CA1263128A (en)	1989-11-21	Hand gear train with three degrees of freedom
CA1172286A (en)	1984-08-07	Three-axis wrist mechanism
US7597025B2 (en)	2009-10-06	Articulated robot
EP0279591B1 (en)	1991-04-24	Robotic manipulator
US11420322B2 (en)	2022-08-23	Working device and double-arm type working device
US5197846A (en)	1993-03-30	Six-degree-of-freedom articulated robot mechanism and assembling and working apparatus using same
US11154994B2 (en)	2021-10-26	Work device and dual-arm work device
US4068763A (en)	1978-01-17	Wrist joint assembly
JPH01146683A (ja)	1989-06-08	多継手ロボット部品
US11130225B2 (en)	2021-09-28	Working device and double-arm type working device
US4684312A (en)	1987-08-04	Robotic wrist
US12589510B2 (en)	2026-03-31	Work device
JPH07178684A (ja)	1995-07-18	ロボットアーム
JPS61168487A (ja)	1986-07-30	機械的手首機構
JPH0810523Y2 (ja)	1996-03-29	ロボット用グリッパ装置
EP0164210B1 (en)	1989-09-13	An improved robotic wrist
Rosheim	1990	Design of an omnidirectional arm
JP2514789Y2 (ja)	1996-10-23	産業用ロボットの手首構造
JPH03196980A (ja)	1991-08-28	多関節６自由度ロボット機構および該ロボット機構を用いた組立、加工装置
JP3367797B2 (ja)	2003-01-20	マニプレータ
JPH08323661A (ja)	1996-12-10	自動組付機
JP2805093B2 (ja)	1998-09-30	ロボットハンド
JP2024176217A (ja)	2024-12-19	手首関節ユニットおよびそれを備えた作業装置
JPS6351833B2 (es)	1988-10-17